Movable portal frame three-axis mechanical arm

Abstract

The utility model discloses a movable portal frame three-axis mechanical arm which is characterized by comprising a chassis, a lifting device lifting relative to the chassis, a forward extending device translating relative to the lifting device and a three-axis mechanical arm body arranged on the forward extending device. Wheels are rotationally arranged on the chassis, and two portal frames are further fixedly arranged on the chassis. The lifting device comprises a lifting chassis and lifting frames arranged on the two sides of the lifting chassis, and the lifting frames are matched with the portal frame in a lifting mode. The forward stretching device comprises a forward stretching frame, and the forward stretching frame is in sliding fit with the lifting chassis; the three-axis mechanical arm is fixed to one end of the forward extending frame, and an executing mechanism is arranged at the front end of the three-axis mechanical arm. The utility model has the advantages of simple structure, low cost, stable movement, strong bearing capacity and convenience and flexibility in operation.

Description

Technical Field

[0001] This utility model belongs to the field of three-axis robotic arm technology, specifically relating to a movable gantry three-axis robotic arm, which can be widely used in industrial production, logistics handling, equipment installation and maintenance and other fields. Background Technology

[0002] In modern industry and logistics, the application of three-axis robotic arms is becoming increasingly widespread. While traditional fixed gantry-type three-axis robotic arms can operate efficiently within a specific area, their fixed installation greatly limits their application scenarios. When tasks need to be completed in different locations or areas, fixed gantry-type three-axis robotic arms cannot meet the requirements, forcing companies to purchase multiple sets of equipment or adopt complex handling methods to relocate the equipment, resulting in high costs and low efficiency.

[0003] While some six-axis and three-axis robotic arms are flexible, they often cannot quickly reach the accurate position and are unable to complete non-fixed-height movements in the shortest possible time. Furthermore, in locations requiring a large range of motion, the space occupied by six-axis and three-axis robotic arms is too large, making fixed-motion gantry cranes more convenient and efficient.

[0004] Meanwhile, the existing combination of mobile devices and three-axis robotic arms is not reasonable enough, and the stability of the three-axis robotic arm is easily affected during movement, resulting in a decrease in work accuracy. Utility Model Content

[0005] The purpose of this invention is to provide a movable gantry three-axis robotic arm to solve the problems of fixed gantry robotic arms being unable to move, small movable three-axis robotic arms having insufficient load-bearing capacity and precision, and poor movement stability in the prior art.

[0006] This utility model is achieved through the following technical solution: a movable gantry three-axis robotic arm, characterized in that: it includes a chassis, a lifting device that lifts and lowers relative to the chassis, a forward extension device that translates relative to the lifting device, and a three-axis robotic arm mounted on the forward extension device;

[0007] The chassis is equipped with rotating wheels, and two sets of gantry frames are also fixedly mounted on the chassis.

[0008] The lifting device includes a lifting chassis and lifting frames arranged on both sides of the lifting chassis, and the lifting frames are raised and lowered in coordination with the gantry frame;

[0009] The forward extension device includes a forward extension frame, which is slidably engaged with the lifting chassis.

[0010] The three-axis robotic arm is fixed to one end of the front extension frame, and an actuator is provided at the front end of the three-axis robotic arm.

[0011] Furthermore: the gantry frame and the lifting frame are connected by a slide rail slider mechanism. The lifting frame is equipped with a lifting motor and a lifting sprocket. A lifting chain is installed between the lifting motor and the lifting sprocket. A fixing plate is installed on the lifting chain. The fixing plate is fixedly connected to the crossbeam of the gantry frame.

[0012] Furthermore: the lifting frame and the lifting chassis are connected by a slide rail slider mechanism, and a lifting chassis fixing plate is provided on the lifting chain, which is fixedly connected to the side of the lifting chassis.

[0013] Furthermore: the forward extension frame and the lifting chassis are connected by a slide rail slider mechanism. The lifting chassis is equipped with a forward extension motor and a forward extension wheel. A forward extension belt is installed between the forward extension motor and the forward extension wheel. A forward extension fixing plate is installed on the forward extension belt and is fixedly connected to the forward extension frame.

[0014] Furthermore: the chassis and the wheel are connected by a V-shaped mounting plate, the bottom of which is rotatably engaged with the wheel; one end of the top of the V-shaped mounting plate is hinged to the chassis, and the other end is hinged to a shock absorber, which is also hinged to the chassis.

[0015] The beneficial effects of this utility model are:

[0016] Simple structure and low cost: Compared with complex multi-degree-of-freedom six-axis robotic arms, this three-axis robotic arm only retains two key degrees of freedom, namely rising and extending, which simplifies the structure, reduces production and maintenance costs, and is more suitable for small and medium-sized enterprises and specific scenarios.

[0017] Stable movement and high load-bearing capacity: The sliding mechanism ensures the stability of the three-axis robotic arm during movement; the rationally designed lifting and forward extension mechanisms give it a high load-bearing capacity, enabling it to handle heavy objects.

[0018] Easy and flexible operation: By independently controlling the drive motors of the lifting and extending motion mechanisms, operators can easily adjust the position of the three-axis robotic arm to achieve precise operation. Replaceable end effectors further enhance the flexibility and adaptability of the three-axis robotic arm. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the chassis structure;

[0021] Figure 3 This is a schematic diagram of the lifting device and the extension device.

[0022] Figure 4 This is a schematic diagram of the wheel and chassis assembly structure;

[0023] Figure 5 This is a schematic diagram of the forward extension device.

[0024] Explanation of the serial numbers in the diagram:

[0025] 1 is the chassis, 11 is the wheel, 12 is the gantry, 13 is the mounting plate, and 14 is the shock absorber;

[0026] 2 is the lifting device, 21 is the lifting chassis, 22 is the lifting frame, 23 is the lifting motor, 24 is the lifting sprocket, 25 is the lifting chain, 26 is the fixing plate, and 27 is the lifting chassis fixing plate.

[0027] 3 is the forward extension device, 31 is the forward extension frame, 32 is the forward extension motor, 33 is the forward extension wheel, 34 is the forward extension belt, and 35 is the forward extension fixing plate;

[0028] 4 is a three-axis robotic arm;

[0029] 5 is the implementing agency. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] like Figures 1 to 5 As shown, this utility model provides a movable gantry three-axis robotic arm, including a chassis 1, a lifting device 2 that lifts and moves relative to the chassis, a forward extension device 3 that moves relative to the lifting device, and a three-axis robotic arm 4 mounted on the forward extension device.

[0032] The chassis 1 is rotatably equipped with wheels 11, and two sets of gantry frames 12 are also fixedly installed on the chassis.

[0033] The lifting device 2 includes a lifting chassis 21 and lifting frames 22 arranged on both sides of the lifting chassis. The lifting frames are raised and lowered in coordination with the gantry frame.

[0034] The forward extension device 3 includes a forward extension frame 31, which is slidably engaged with the lifting chassis 21.

[0035] The three-axis robotic arm 4 is fixed to the front end of the extension frame 31, and an actuator 5 is provided at the front end of the three-axis robotic arm.

[0036] The wheel is a Mecanum wheel, and a 152mm Mecanum wheel can be selected as a further option. The actuator is a suction cup, etc.

[0037] The gantry frame and the lifting frame are connected by a sliding mechanism, such as a slide rail slider mechanism, to achieve vertical lifting. A lifting motor 23 with a drive sprocket is fixedly installed on the lifting frame, and a lifting sprocket 24 is rotatably installed. A vertical lifting chain 25 is installed between the drive sprocket on the output shaft of the lifting motor and the lifting sprocket. A fixing plate 26 is installed on the lifting chain, and the fixing plate is fixedly connected to the crossbeam of the gantry frame by bolts.

[0038] Furthermore, the lifting frame and the lifting chassis are also connected via a sliding mechanism, i.e., vertical lifting and lowering. A lifting chassis fixing plate 27 is also installed on the lifting chain. The fixing plate 26 and the lifting chassis fixing plate 27 are located on opposite sides of the chain and move in opposite directions. The lifting chassis fixing plate is fixedly connected to the side of the lifting chassis. This structure enables two-stage lifting, improving lifting efficiency.

[0039] The extended frame and the lifting chassis are connected by a sliding mechanism. An extended motor 32 and an extended wheel 33 are mounted on the lifting chassis 21. An extended belt 34, which is a synchronous belt, is installed between the extended motor and the extended wheel. An extended fixing plate 35 is attached to the extended belt by means of adhesion or other methods, and the extended fixing plate is also fixedly connected to the extended frame. Furthermore, there are two sets of extended motors and extended belts, located on both sides of the extended frame in the forward direction, corresponding to the frames on both sides of the lifting chassis and the extended frame, as shown below. Figure 5 As shown, Figure 5 The diagram only shows the side structure of one set of mating parts; the remaining parts of the lifting chassis and the front extension frame are omitted. In this structure, to ensure the stability of the front extension frame when it is extended, the sliding mechanism can adopt a sliding mechanism that uses T-shaped slide rails and T-shaped slide grooves. At the same time, the control device or counterweight of the whole machine is set on the rear side of the front extension frame, so as to ensure that the front extension frame remains horizontal when it is extended and in operation.

[0040] The chassis is connected to each wheel via two V-shaped mounting plates 13. The bottom of the V-shaped mounting plates rotates with the wheel axle. One end of the top of the V-shaped mounting plate is hinged to the chassis, and the other end is hinged to a shock absorber 14. The other end of the shock absorber is hinged to the chassis. The shock absorber can be a spring assembly or a damper, etc.

[0041] It should be noted that the sliding mechanism, three-axis robotic arm, wheels, etc. in this solution are all existing products; other structures not described in detail in this solution and their interconnections are all existing technologies and are not the inventive points of this solution, and will not be elaborated further.

Claims

1. A mobile gantry three-axis robotic arm, characterized by: The chassis, the lifting device that elevates opposite the chassis, the front stretching device that translates opposite the lifting device, and the three-axis mechanical arm arranged on the front stretching device are included; The wheels are arranged on the chassis in rotation, and two groups of gantries are fixed on the chassis; The lifting device includes a lifting chassis and lifting frames arranged on both sides of the lifting chassis, and the lifting frames are in lifting cooperation with the gantries; The front stretching device includes a front stretching frame, and the front stretching frame is in sliding cooperation with the lifting chassis; The three-axis mechanical arm is fixed at one end of the front stretching frame, and an execution mechanism is arranged at the front end of the three-axis mechanical arm.

2. The mobile gantry three-axis robotic arm of claim 1, wherein: The sliding rail and sliding block mechanism is arranged between the gantry and the lifting frame, the lifting motor and the lifting sprocket are arranged on the lifting frame, the lifting chain is arranged between the lifting motor and the lifting sprocket, the fixing plate is arranged on the lifting chain, and the fixing plate is fixedly connected with the cross beam of the gantry.

3. The mobile gantry three-axis robotic arm of claim 2, wherein: The sliding rail and sliding block mechanism is arranged between the lifting frame and the lifting chassis, the lifting chassis fixing plate is arranged on the lifting chain, and the lifting chassis fixing plate is fixedly connected with the side surface of the lifting chassis.

4. The mobile gantry three-axis robotic arm of claim 1, wherein: The sliding rail and sliding block mechanism is arranged between the front stretching frame and the lifting chassis, the front stretching motor and the front stretching wheel are arranged on the lifting chassis, the front stretching belt is arranged between the front stretching motor and the front stretching wheel, the front stretching fixing plate is arranged on the front stretching belt, and the front stretching fixing plate is fixedly connected with the front stretching frame.

5. The mobile gantry three-axis robotic arm of claim 1, wherein: The V-shaped mounting plate is arranged between the chassis and the wheels, the bottom of the V-shaped mounting plate is in rotation cooperation with the wheels, one end of the top of the V-shaped mounting plate is in hinged cooperation with the chassis, the other end is hinged with the shock absorber, and the shock absorber is in hinged cooperation with the chassis.

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